Control apparatus

Abstract

In order to solve a problem that a large load is applied to a particular shaft of a transfer robot in accordance with acceleration during transfer of a transfer target, a control apparatus for controlling a transfer robot having a hand portion and an arm portion includes: a calculating portion that calculates an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand portion such that, during movement of the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced; and a control portion that controls the arm portion according to a result of the calculation. Since control is performed such that the first and second moments are allowed to weaken each other, it is possible to reduce loads that are applied to the leading shaft during movement.

What is claimed is: 
     
       1. A control apparatus for controlling a transfer robot having a hand configured to hold a plate-like transfer target and an arm portion linked to the hand, comprising:
 a processor configured to control an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand such that, when the arm portion is moving the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced. 
 
     
     
       2. The control apparatus according to  claim 1 ,
 wherein the processor is configured to calculate the inclination angle and the vertical velocity such that, when the arm portion is moving the transfer target, the first moment and the second moment weaken each other, and that the normal velocity component is reduced, 
 wherein, when the arm portion is moving the transfer target, the processor is configured to control the arm portion using the inclination angle and the vertical velocity calculated by the processor. 
 
     
     
       3. The control apparatus according to  claim 1 , wherein, when the arm portion is moving the transfer target, the processor is configured to control the arm portion such that the first moment and the second moment are balanced with each other. 
     
     
       4. The control apparatus according to  claim 1 , wherein, when the arm portion is moving the transfer target, the processor is configured to control the arm portion such that a movement direction of the hand matches a surface direction of a surface of the transfer target.